arm-base movement experiment
first find feasible point
cloud/convex decomp stuff
fix shared ptr conversion
convex decomp changes
holy shit I can't believe anything worked before
misc
getFeasiblePoint bug
define some costs
Add position constraint and fixed dof constraint for specified steps
solved merging conflicts
various
Add openni2.launch
Merge branch 'john-rss' of github.com:joschu/trajopt into john-rss
various
velocity constraints
continuous collision cost seems to work
Add dynamic convex hull. Add orientedBoxFilter. Fix RenderCollisionShape for convex hulls of 4 vertices.
Resolved conflicts.